{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:O3X5ZNU2YIS4FX5S7W3EOQQWZO","short_pith_number":"pith:O3X5ZNU2","canonical_record":{"source":{"id":"2110.00645","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-01T20:47:04Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"b2211eb573fe81541513cdef1ba809a43a1940fd86b46a59b343a869a8a97948","abstract_canon_sha256":"a507540abfb5e6ea0c5637a33e3bf625eae5aef55543ab2401c35ce59b061f84"},"schema_version":"1.0"},"canonical_sha256":"76efdcb69ac225c2dfb2fdb6474216cb93dacd24335888d2658a0af9541992e9","source":{"kind":"arxiv","id":"2110.00645","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.00645","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"arxiv_version","alias_value":"2110.00645v1","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.00645","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_12","alias_value":"O3X5ZNU2YIS4","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_16","alias_value":"O3X5ZNU2YIS4FX5S","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_8","alias_value":"O3X5ZNU2","created_at":"2026-07-05T03:19:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:O3X5ZNU2YIS4FX5S7W3EOQQWZO","target":"record","payload":{"canonical_record":{"source":{"id":"2110.00645","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-01T20:47:04Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"b2211eb573fe81541513cdef1ba809a43a1940fd86b46a59b343a869a8a97948","abstract_canon_sha256":"a507540abfb5e6ea0c5637a33e3bf625eae5aef55543ab2401c35ce59b061f84"},"schema_version":"1.0"},"canonical_sha256":"76efdcb69ac225c2dfb2fdb6474216cb93dacd24335888d2658a0af9541992e9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:19:32.252334Z","signature_b64":"dCuwWu1aGg4/mmZu0rGbewQ6mAoKrFLwCmIxBS7ApXz4i1erW582EDyP9eySg9XREBE9G0kPPjrzFd5hmyN7Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"76efdcb69ac225c2dfb2fdb6474216cb93dacd24335888d2658a0af9541992e9","last_reissued_at":"2026-07-05T03:19:32.251913Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:19:32.251913Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2110.00645","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:19:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"miLGCAnLESlXoLcdQMrW6x7qOo2gYM/RRL9eehI4Z6JlXjslsQbeg4R7HaDffLH+/0wAUr5ZpZRmDQvxJxm2Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T08:48:04.339319Z"},"content_sha256":"646a20c31c7c4aa21d1515d88ffb98acc379f8e6a271f9f5159a22c4e8ed8c14","schema_version":"1.0","event_id":"sha256:646a20c31c7c4aa21d1515d88ffb98acc379f8e6a271f9f5159a22c4e8ed8c14"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:O3X5ZNU2YIS4FX5S7W3EOQQWZO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"How To Not Drive: Learning Driving Constraints from Demonstration","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Kasra Rezaee, Peyman Yadmellat","submitted_at":"2021-10-01T20:47:04Z","abstract_excerpt":"We propose a new scheme to learn motion planning constraints from human driving trajectories. Behavioral and motion planning are the key components in an autonomous driving system. The behavioral planning is responsible for high-level decision making required to follow traffic rules and interact with other road participants. The motion planner role is to generate feasible, safe trajectories for a self-driving vehicle to follow. The trajectories are generated through an optimization scheme to optimize a cost function based on metrics related to smoothness, movability, and comfort, and subject t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.00645","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2110.00645/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:19:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JRoi5WsryfoBzijxl7iUDlI7JrAY+/Keb9P+NDz0lDwMwAmtNGCKXGEr5UWiqCznyNN64Prf8y5LLSzdYf8rAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T08:48:04.340187Z"},"content_sha256":"6e6d5b5d90831aeb7d04b1941b07326ffb4384706288647f6f25471016479a59","schema_version":"1.0","event_id":"sha256:6e6d5b5d90831aeb7d04b1941b07326ffb4384706288647f6f25471016479a59"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/O3X5ZNU2YIS4FX5S7W3EOQQWZO/bundle.json","state_url":"https://pith.science/pith/O3X5ZNU2YIS4FX5S7W3EOQQWZO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/O3X5ZNU2YIS4FX5S7W3EOQQWZO/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-17T08:48:04Z","links":{"resolver":"https://pith.science/pith/O3X5ZNU2YIS4FX5S7W3EOQQWZO","bundle":"https://pith.science/pith/O3X5ZNU2YIS4FX5S7W3EOQQWZO/bundle.json","state":"https://pith.science/pith/O3X5ZNU2YIS4FX5S7W3EOQQWZO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/O3X5ZNU2YIS4FX5S7W3EOQQWZO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:O3X5ZNU2YIS4FX5S7W3EOQQWZO","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"a507540abfb5e6ea0c5637a33e3bf625eae5aef55543ab2401c35ce59b061f84","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-01T20:47:04Z","title_canon_sha256":"b2211eb573fe81541513cdef1ba809a43a1940fd86b46a59b343a869a8a97948"},"schema_version":"1.0","source":{"id":"2110.00645","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.00645","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"arxiv_version","alias_value":"2110.00645v1","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.00645","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_12","alias_value":"O3X5ZNU2YIS4","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_16","alias_value":"O3X5ZNU2YIS4FX5S","created_at":"2026-07-05T03:19:32Z"},{"alias_kind":"pith_short_8","alias_value":"O3X5ZNU2","created_at":"2026-07-05T03:19:32Z"}],"graph_snapshots":[{"event_id":"sha256:6e6d5b5d90831aeb7d04b1941b07326ffb4384706288647f6f25471016479a59","target":"graph","created_at":"2026-07-05T03:19:32Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2110.00645/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a new scheme to learn motion planning constraints from human driving trajectories. Behavioral and motion planning are the key components in an autonomous driving system. The behavioral planning is responsible for high-level decision making required to follow traffic rules and interact with other road participants. The motion planner role is to generate feasible, safe trajectories for a self-driving vehicle to follow. The trajectories are generated through an optimization scheme to optimize a cost function based on metrics related to smoothness, movability, and comfort, and subject t","authors_text":"Kasra Rezaee, Peyman Yadmellat","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-01T20:47:04Z","title":"How To Not Drive: Learning Driving Constraints from Demonstration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.00645","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:646a20c31c7c4aa21d1515d88ffb98acc379f8e6a271f9f5159a22c4e8ed8c14","target":"record","created_at":"2026-07-05T03:19:32Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"a507540abfb5e6ea0c5637a33e3bf625eae5aef55543ab2401c35ce59b061f84","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-01T20:47:04Z","title_canon_sha256":"b2211eb573fe81541513cdef1ba809a43a1940fd86b46a59b343a869a8a97948"},"schema_version":"1.0","source":{"id":"2110.00645","kind":"arxiv","version":1}},"canonical_sha256":"76efdcb69ac225c2dfb2fdb6474216cb93dacd24335888d2658a0af9541992e9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"76efdcb69ac225c2dfb2fdb6474216cb93dacd24335888d2658a0af9541992e9","first_computed_at":"2026-07-05T03:19:32.251913Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:19:32.251913Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dCuwWu1aGg4/mmZu0rGbewQ6mAoKrFLwCmIxBS7ApXz4i1erW582EDyP9eySg9XREBE9G0kPPjrzFd5hmyN7Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:19:32.252334Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.00645","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:646a20c31c7c4aa21d1515d88ffb98acc379f8e6a271f9f5159a22c4e8ed8c14","sha256:6e6d5b5d90831aeb7d04b1941b07326ffb4384706288647f6f25471016479a59"],"state_sha256":"b9df29814132dccccc2cc6fcee3be5d9107452c5997cc7432babbe8fc75639d6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"heNtouVStkIx7E6y6ILolQ3C9je0kzNfp+dKaj7igqme76LujXU7Wsv/dLZG6U0IhPZO4IPxyyHKTB9/KaNsDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T08:48:04.348048Z","bundle_sha256":"531e55c068c1bb92858b5d20f6e0a3a3a56c1bb17ba8e51469ca952e908798cd"}}